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907c5e9976
These don't test any advanced features, just the basics. This work was funded through GitHub Sponsors. Signed-off-by: Angus Gratton <angus@redyak.com.au>
100 lines
2.7 KiB
Python
100 lines
2.7 KiB
Python
# Test machine.Encoder implementation
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#
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# IMPORTANT: This test requires hardware connections:
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# - out0_pin and in0_pin must be wired together.
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# - out1_pin and in1_pin must be wired together.
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try:
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from machine import Encoder
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except ImportError:
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print("SKIP")
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raise SystemExit
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import sys
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from machine import Pin
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if "esp32" in sys.platform:
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id = 0
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out0_pin = 4
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in0_pin = 5
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out1_pin = 12
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in1_pin = 13
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else:
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print("Please add support for this test on this platform.")
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raise SystemExit
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import unittest
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out0_pin = Pin(out0_pin, mode=Pin.OUT)
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in0_pin = Pin(in0_pin, mode=Pin.IN)
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out1_pin = Pin(out1_pin, mode=Pin.OUT)
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in1_pin = Pin(in1_pin, mode=Pin.IN)
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class TestEncoder(unittest.TestCase):
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def setUp(self):
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out0_pin(0)
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out1_pin(0)
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self.enc = Encoder(id, in0_pin, in1_pin)
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self.pulses = 0 # track the expected encoder position in software
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def tearDown(self):
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self.enc.deinit()
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def rotate(self, pulses):
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for _ in range(abs(pulses)):
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self.pulses += 1 if (pulses > 0) else -1
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q = self.pulses % 4
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# Only one pin should change state each "step" so output won't glitch
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out0_pin(q in (1, 2))
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out1_pin(q in (2, 3))
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def assertPosition(self, value):
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self.assertEqual(self.enc.value(), value)
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def test_connections(self):
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# Test the hardware connections are correct. If this test fails, all tests will fail.
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for ch, outp, inp in ((0, out0_pin, in0_pin), (1, out1_pin, in1_pin)):
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print("Testing channel ", ch)
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outp(1)
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self.assertEqual(1, inp())
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outp(0)
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self.assertEqual(0, inp())
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def test_basics(self):
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self.assertPosition(0)
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self.rotate(100)
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self.assertPosition(100 // 4)
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self.rotate(-100)
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self.assertPosition(0)
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def test_partial(self):
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# With phase=1 (default), need 4x pulses to count a rotation
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self.assertPosition(0)
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self.rotate(1)
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self.assertPosition(0)
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self.rotate(1)
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self.assertPosition(0)
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self.rotate(1)
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self.assertPosition(1) # only 3 pulses to count first rotation?
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self.rotate(1)
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self.assertPosition(1)
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self.rotate(1)
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self.assertPosition(1)
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self.rotate(1)
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self.assertPosition(1)
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self.rotate(1)
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self.assertPosition(2) # 4 for next rotation
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self.rotate(-1)
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self.assertPosition(1)
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self.rotate(-4)
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self.assertPosition(0)
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self.rotate(-4)
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self.assertPosition(-1)
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self.rotate(-3)
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self.assertPosition(-1)
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if __name__ == "__main__":
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unittest.main()
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